Underwater Robot

Abstract

The invention discloses an underwater robot, comprising: a housing, which is a disc type; a plurality of first guide channels, which are evenly spaced and arranged in the housing, and the two ends of each first guide channel respectively penetrate the housing, and each first guide channel extends along a first direction, and the first direction is parallel to the connection direction of the top and bottom of the housing; a plurality of second guide channels, which are evenly spaced and arranged in the housing, and the two ends of each second guide channel respectively penetrate the housing, and each second guide channel is perpendicular to the first direction; a plurality of first propellers, and a first propeller is respectively arranged in each first guide channel; a plurality of second propellers, and a second propeller is respectively arranged in each second guide channel; an electric control module, which is arranged in the housing, and the electric control module is respectively connected to the plurality of first propellers and the plurality of second propellers. The invention has a delicate structure, high speed, large range, long endurance, strong attitude stability, strong scalability, and large load-bearing capacity.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater submersibles, and in particular to an underwater robot. Background Art

[0002] An underwater robot is a mechanized, intelligent, unmanned vehicle that can withstand a certain amount of water pressure and can swim flexibly underwater. Underwater robots can replace humans in long-term underwater operations in highly dangerous environments, polluted environments, and waters with zero visibility, and are widely used in marine fisheries, underwater archaeology, hydrological monitoring, and other occasions.

[0003] In the prior art, underwater robots can be divided into autonomous underwater robots AUV (autonomous underwater vehicle) without cables and remote operated underwater robots ROV (Remote Operated Vehicle) with cables. AUVs are mostly torpedo-shaped with under-driven power layout, focusing on low power consumption endurance and cruising range, but their power shape limits their stability and load weight in low-speed motion; ROVs mostly adopt a frame structure with over-driven power layout, focusing on attitude controllability, but the towing cable method sacrifices high range performance, and the frame structure sacrifices high-speed motion performance. Summary of the invention

[0004] According to an embodiment of the present invention, there is provided an underwater robot, comprising:

[0005] The casing is a disc type;

[0006] A plurality of first flow guiding channels, the plurality of first flow guiding channels are evenly spaced and arranged in the housing, both ends of each first flow guiding channel respectively penetrate the housing, and each first flow guiding channel extends along a first direction, which is a direction parallel to a line connecting the top and the bottom of the housing;

[0007] A plurality of second flow guiding channels, which are evenly spaced and arranged in the housing, with both ends of each second flow guiding channel respectively passing through the housing, and each second flow guiding channel being perpendicular to the first direction;

[0008] A plurality of first propellers, each first flow guide channel is provided with a first propeller;

[0009] A plurality of second propellers, each second flow guide channel is provided with a second propeller;

[0010] The electric control module is arranged in the casing and is respectively connected to the plurality of first propellers and the plurality of second propellers.

[0011] Furthermore, the number of the first guide channels is an even number not less than 4.

[0012] Furthermore, the axes of the first flow guiding channels are parallel to each other, but the axes of any three first flow guiding channels are not coplanar.

[0013] Furthermore, a center line of any first flow guiding channel does not intersect with a center line of any second flow guiding channel.

[0014] Furthermore, the number of the second guide channels is an even number not less than 2.

[0015] Furthermore, the center lines of any two second flow guiding channels do not intersect.

[0016] Furthermore, it also includes: a frame plate, which is arranged in the casing; a plurality of first thrusters, a plurality of second thrusters and an electric control module are respectively installed on the frame plate.

[0017] Furthermore, the housing includes an upper housing and a lower housing, and a splicing direction of the upper housing and the lower housing is a first direction.

[0018] Furthermore, each first flow guide channel includes an upper flow guide tube and a lower flow guide tube that are connected to each other. The upper flow guide tube is arranged on the inner wall of the upper shell, and the lower flow guide tube is arranged on the inner wall of the lower shell. The upper flow guide tube and the lower flow guide tube respectively penetrate the upper shell and the lower shell along the first direction.

[0019] Furthermore, it also includes: a frame plate, which is arranged in the casing; the electronic control modules are respectively installed on the frame plate; the frame plate is perpendicular to the first direction, and a plurality of flow guide holes are arranged on the frame plate, and the plurality of flow guide holes correspond to a plurality of first flow guide channels one by one, and the two ends of each flow guide hole are respectively connected to an upper flow guide cylinder and a lower flow guide cylinder of a first flow guide channel, and a first propeller is arranged in each flow guide hole; a plurality of second propellers are respectively installed on the frame plate through connecting parts, and each second propeller extends into a second flow guide channel respectively.

[0020] Furthermore, it also includes: a pressure cabin, the pressure cabin is arranged on the frame plate, the electric control module is arranged in the pressure cabin, the bottom cover of the pressure cabin is provided with an optical ball cover, the bottom of the casing is provided with an observation window, and the optical ball cover is located at the observation window.

[0021] Furthermore, the pressure cabin is connected to the frame plate via a flexible connector, the upper end of the flexible connector is connected to the frame plate, and the lower end of the flexible connector is connected to the pressure cabin.

[0022] Furthermore, it also includes: a driving mechanism and a camera, the camera is located in the optical ball cover, the driving mechanism is connected to the camera to drive the camera to rotate, and the driving mechanism and the camera are respectively connected to the electric control module.

[0023] Furthermore, it also includes: a center of gravity adjustment module, which is arranged on the frame; the center of gravity adjustment module includes a counterweight block and a sliding component, and the counterweight block can be moved on the frame through the sliding component in a direction parallel or perpendicular to the second guide channel.

[0024] Further, the plurality of second flow guiding channels include a plurality of middle second flow guiding channels;

[0025] Each middle second flow guiding channel comprises an upper groove and a lower groove, wherein the upper groove is arranged inside the upper shell, and the lower groove is arranged inside the lower shell;

[0026] Two ends of the upper groove respectively penetrate the upper shell along a direction perpendicular to the first direction, and two ends of the lower groove respectively penetrate the lower shell along a direction perpendicular to the first direction.

[0027] Furthermore, the plurality of second guide channels include a plurality of upper second guide channels and a plurality of lower second guide channels, both ends of each upper second guide channel respectively penetrate the upper shell along a direction perpendicular to the first direction, and both ends of each lower second guide channel respectively penetrate the lower shell along a direction perpendicular to the first direction.

[0028] The underwater robot according to the embodiment of the present invention has a compact structure, a high speed, a long range, a long endurance time, a strong posture stability, strong scalability, and a large load-bearing capacity.

[0029] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a front view of the final assembly of the underwater robot according to an embodiment of the present invention;

[0031] Figure 2 is a stereogram of the final assembly of an underwater robot according to an embodiment of the present invention;

[0032] Figure 3-1 is a top view of the overall assembly of an underwater robot according to an embodiment of the present invention;

[0033] Figure 3-2 A top view of the housing assembly of an underwater robot according to an embodiment of the present invention;

[0034] Figure 3-3 for Figure 3-2 AA section view;

[0035] Figure 3-4 for Figure 3-2 BB section view;

[0036] Figure 4-1 A top view of an upper shell of an underwater robot housing according to an embodiment of the present invention, wherein the housing is composed of an upper shell and an lower shell;

[0037] Figure 4-2 for Figure 4-1 BB section view;

[0038] Figure 5-1 A top view of a lower shell of an underwater robot housing composed of an upper shell and an lower shell according to an embodiment of the present invention;

[0039] Figure 5-2 for Figure 5-1 BB section view;

[0040] Figure 6 is a structural exploded view of a housing of an underwater robot according to an embodiment of the present invention, which is composed of an upper and lower housing;

[0041] Figure 7 It is a schematic diagram of assembling a frame, a propeller and a center of gravity adjustment module of an underwater robot according to an embodiment of the present invention;

[0042] Figure 8 for Figure 7 Schematic diagram of the center of gravity adjustment module structure;

[0043] Fig. 9 1 is a structural exploded view of a pressure-resistant cabin and cabin components of an underwater robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0045] First, combine Figures 1 to 9 An underwater robot according to an embodiment of the present invention is described, which is used for unmanned underwater operations and can be adapted to lakes and oceans, and has a wide range of application scenarios.

[0046] like Figures 1~3-4 As shown in Figures 6 and 9, the underwater robot of the embodiment of the present invention comprises a housing 1, a plurality of first flow guiding channels 2, a plurality of second flow guiding channels 3, a plurality of first propellers 4, a plurality of second propellers 5, and an electric control module 6. The housing 1 is disc-shaped, and a plurality of first flow guiding channels 2 are evenly spaced and arranged in the disc-shaped housing 1, and both ends of each first flow guiding channel 2 respectively penetrate the housing 1, and each first flow guiding channel 2 extends along the first direction A, that is, extends in the direction parallel to the line connecting the top and the bottom of the housing 1, and a first propeller 4 is respectively arranged in each first flow guiding channel 2; a plurality of second flow guiding channels 3 are also evenly spaced and arranged in the housing 1, and both ends of each second flow guiding channel 3 respectively penetrate the housing 1, and each second flow guiding channel 3 is perpendicular to the first direction A, and a second propeller 5 is respectively arranged in each second flow guiding channel 3, and the electric control module 6 is arranged in the housing 1, and the electric control module 6 is respectively connected to the plurality of first propellers 4 and the plurality of second propellers 5.

[0047] The electric control module 6 controls the movement of the underwater robot in the vertical direction through the first thruster 4, and can provide a relatively fast adjustment torque in the pitch and roll dimensions in the Euler angle coordinate system, and maintain a stable pitch angle and roll angle under strong water flow interference; the relatively soft adjustment torque in the yaw dimension can accurately adjust the yaw torque and reduce yaw oscillation. In this embodiment, the electric control module 6 can be controlled by pre-programmed autonomous control, high-power low-frequency radio remote control, towed buoy wireless remote control or towed zero-buoyancy cable remote control.

[0048] The second thruster 5 controls the movement of the underwater robot in the horizontal direction, provides the thrust for advancing and retreating, and completes the advancing and retreating action. At the same time, it can output a larger yaw moment when the yaw angle deviation is large, and speed up the yaw adjustment action.

[0049] In this embodiment, the first propeller 4 and the second propeller 5 use a power combination of a brushless DC motor and a propeller, and may also use a shaftless pump propulsion as a power source.

[0050] The disc-shaped hydrodynamic shape of the casing 1 can provide greater damping in the dimensions of heave, roll and pitch, adapt to greater output, and respond quickly, while smaller damping in yaw, advance and retreat, and lateral movement, adapt to smaller output, and adjust precisely, which is beneficial for constant depth navigation, stable hovering, vertical heave and sink, and has strong attitude stability; at the same time, the bridge-like protrusion on the top of the disc will generate a lifting torque due to resistance when the underwater robot moves forward, thereby offsetting the diving torque of the horizontal thruster, that is, the second thruster 5 attached to the center of mass of the underwater robot.

[0051] In this embodiment, the housing 1 is provided with a plurality of drainage holes 14 to achieve rapid drainage; a plurality of housing mounting holes 15 are also provided for mounting waterproof indicator lights, waterproof switches, plug connectors, and the like.

[0052] Specifically, Figures 1~3-4 As shown, the number of the first flow guide channel 2 and the first propeller 4 is an even number not less than 4, and the number of the second flow guide channel 3 and the second propeller 5 is an even number not less than 2. The even number is beneficial to the propeller to eliminate the excess spin anti-torque of the propeller itself. At the same time, if the number of propellers is insufficient, even if the housing 1 is a disc type, it will cause the underwater robot to tilt and the posture is difficult to control. Therefore, in this embodiment, the first propeller 4 is 4, the second propeller 5 is 2, and a total of 6 propellers are used for illustration. The 6 propellers can not only ensure sufficient power and achieve high speed, but also ensure both vertical and horizontal movement and posture control, maximize the shape advantages of the disc-type underwater robot, and effectively and accurately realize the control of the disc-type underwater robot.

[0053] In this embodiment, the center lines of all the first flow guiding channels 2 and the second flow guiding channels 3 do not intersect in the sense of Euclidean geometry in three-dimensional space; the axes of the first flow guiding channels 2 are parallel to each other, but the axes of any three first flow guiding channels 2 are not coplanar. Since the first flow guiding channels 2 and the second flow guiding channels 3 are built into the disc-shaped housing 1 and the center lines do not intersect each other, the jets of all propellers will not be directly entangled together, thereby reducing the possibility of the jets entangled with each other to form turbulence, thereby reducing the negative impact of turbulence on control effect and efficiency.

[0054] Specifically, Figure 4-1 , 4-2 As shown in Figures 5-1, 5-2 and 6, in the present embodiment, for the convenience of manufacturing and assembly, the casing 1 is assembled from an upper casing 11 and a lower casing 12, the splicing direction of the upper casing 11 and the lower casing 12 is a first direction A, the top of the upper casing 11 is the top of the casing 1, and the bottom of the lower casing 12 is the bottom of the casing 1.

[0055] Specifically, the first guide channel 2 can be a whole structure, which is arranged as a whole in the casing 1, or it can be a segmented structure. The first guide channel 2 can be integrally formed with the casing 1 through 3D printing or casting, or it can be independently manufactured and installed in the casing 1.

[0056] Further, in this embodiment, if Figure 4-1 , 4-2 As shown in Figures 5-1, 5-2 and 6, according to the upper and lower shell structures of the casing 1, each first flow guide channel 2 has an upper flow guide tube 21 and a lower flow guide tube 22 that are connected to each other. The upper flow guide tube 21 is arranged on the inner wall of the upper shell 11, and the lower flow guide tube 22 is arranged on the inner wall of the lower shell 12. The upper flow guide tube 21 and the lower flow guide tube 22 respectively penetrate the upper shell 11 and the lower shell 12 along the first direction A, so that the upper flow guide tube 21 and the lower flow guide tube 22 are spliced ​​and connected through the assembly of the upper shell 11 and the lower shell 12 to form the first flow guide channel 2.

[0057] As mentioned above, the upper guide tube 21 and the lower guide tube 22 can be manufactured independently and installed on the upper shell 11 and the lower shell 12 respectively; they can also be integrally formed by 3D printing or casting, that is, the upper guide tube 21 is integrally formed with the upper shell 11, and the lower guide tube 22 is integrally formed with the lower shell 12.

[0058] Specifically, in this embodiment, Figure 6 , 7As shown, the underwater robot of the embodiment of the present invention further has a frame plate 7 for installing the first propeller 4, the second propeller 5 and the electronic control module 6. The first propeller 4 and the second propeller 5 extend from the frame plate 7 into the first guide channel 2 and the second guide channel 3 respectively. Placing the first propeller 4 and the second propeller 5 in the disc-shaped casing 1 can minimize the damage of the propeller to the entire disc, so that the underwater robot as a whole will not be entangled by long objects such as water plants.

[0059] Further, if Figure 6 , 7 As shown, combined with the upper and lower shell structures of the casing 1, and the upper and lower guide tube structures of the first guide channel 2, the frame plate 7 is perpendicular to the first direction A, that is, perpendicular to the upper guide tube 21 and the lower guide tube 22 of the first guide channel 2, and a plurality of guide holes 71 are provided on the frame plate 7, and the two ends of each guide hole 71 are respectively connected to an upper guide tube 21 and a lower guide tube 22 of the first guide channel 2, so as to realize a one-to-one correspondence with the first guide channel 2 and the first propeller 4, and a first propeller 4 is arranged in each guide hole 71; a plurality of second propellers 5 are respectively installed on the frame plate 7 through connecting members 51, and each second propeller 5 is respectively extended into a second guide channel 3. In this embodiment, the connecting member 51 and the frame plate 7 and the second propeller 5 are detachably connected.

[0060] Specifically, in this embodiment, Figure 6 , 9 As shown, the underwater robot of the embodiment of the present invention also has a pressure cabin 8, the pressure cabin 8 is arranged on the frame plate 7, the electric control module 6 is arranged in the pressure cabin 8, and the bottom cover of the pressure cabin 8 is provided with an optical ball cover 81. In this embodiment, the two ends of the pressure cabin 8 are waterproof and sealed by end covers 83, flanges 85, optical ball covers 81 and O-rings 84. The upper layer of the flange 85 is connected to the frame plate 7, and the lower layer of the flange 85 fixes the optical ball cover 81.

[0061] Further, if Figure 6 , 9As shown, the pressure cabin 8 is connected to the frame 7 through a flexible connector 86, the upper end of the flexible connector 86 is connected to the frame 7, and the lower end of the flexible connector 86 is connected to the pressure cabin 8. Compared with the rigid connection, the flexible connector 86 can partially absorb the impact of the outside world on the pressure cabin 8, so that the pressure-resistant and waterproof effect of the pressure cabin 8 will not fail due to excessive impact, and can also reduce the vibration impact received by each module device in the pressure cabin 8, so that each module device can work stably and reliably. For example, for vibration-sensitive devices such as the inertial measurement unit (IMU) mentioned below, the flexible connection can constitute a mechanical filter to filter out high-frequency noise and improve measurement accuracy. In this embodiment, the flexible connector 86 uses a nylon column, and a threaded hole is provided in the nylon column along the axial direction of the nylon column. The upper end of the threaded hole is connected to the frame 7 by bolts, and the lower end of the threaded hole is connected to the flange 85 of the pressure cabin 8 by bolts.

[0062] Further, if Figure 1 , 5-1 As shown, an observation window 13 is provided at the bottom of the housing 1 to avoid the optical ball cover 81 located at the observation window 13 .

[0063] Further, if Fig. 9 As shown, a plurality of pressure-resistant cabin installation holes 82 are provided on the top of the pressure-resistant cabin 8 for installing threading screws, depth sensors, ventilation valves and spare parts, etc. The structure is compact and exquisite, and space is saved.

[0064] Further, if Fig. 9 As shown, the underwater robot of the embodiment of the present invention also has: a driving mechanism 91 and a camera 92, the camera 92 is located in the optical ball cover 81, the driving mechanism 91 is connected to the camera 92 to drive the camera 92 to rotate, and the driving mechanism 91 and the camera 92 are respectively connected to the electric control module 6. Since the forward distance of the camera 92 has a great influence on the optical navigation, a larger forward distance of the camera is required; however, the underwater robot of the embodiment of the present invention has a fixed-point hovering task requirement, and a larger forward distance is not conducive to fixed-point hovering. Therefore, the driving mechanism 91 is used to adjust the camera angle of the camera 92, taking into account the field of view requirement. In this embodiment, the driving mechanism 91 uses a servo / pan head.

[0065] Furthermore, in this embodiment, in addition to the camera 92 as an optical sensor, the underwater robot can install various sensors such as laser radar, altimeter, depth gauge, electronic compass, acoustic navigation unit, inertial measurement unit (IMU) in the pressure cabin 8 according to the needs of the use scenario.

[0066] In this embodiment, the battery pack is also arranged in the pressure cabin 8, which is both waterproof and stably installed, and is close to the thruster, electronic control module 6 and various sensors, thereby reducing the wiring distance, saving costs and reducing unnecessary weight, thereby improving the cruising range and time.

[0067] Further, if Figure 7-8 As shown, the underwater robot of the embodiment of the present invention also has: a center of gravity adjustment module 10, which is arranged on the frame 7; the center of gravity adjustment module 10 includes a counterweight block 101 and a sliding assembly 102, and the counterweight block 101 can be moved on the frame 7 along a direction parallel or perpendicular to the second guide channel 3 through the sliding assembly 102 to achieve horizontal / longitudinal dragging. In this embodiment, the center of gravity adjustment module 10 can be equipped with a counterweight ring to change the weight, center of mass position and height. The buoyancy state is adjusted to three states of positive buoyancy, negative buoyancy and suspension through the center of gravity adjustment module 10, and the center of mass is adjusted to coincide with the rotation centerline of the underwater robot.

[0068] Further, if Figure 7-8 As shown, in this embodiment, the sliding assembly 102 includes: a pair of parallel sliding grooves 1021 passing through the frame plate 7 and a sliding rail 1022 straddling the pair of sliding grooves 1021, the sliding rail 1022 can move along the pair of sliding grooves 1021, the counterweight block 101 can move along the sliding rail 1022, and the sliding rail 1022 can drive the counterweight block 101 to move along the sliding groove 1021.

[0069] Specifically, the plurality of second guide channels 3 are two middle second guide channels 31, each middle second guide channel 31 comprises an upper groove 311 and a lower groove 312, wherein the upper groove 311 is arranged inside the upper shell 11, and the lower groove 312 is arranged inside the lower shell 12, and the two ends of the upper groove 311 respectively penetrate the upper shell 11 along a direction perpendicular to the first direction A, and the two ends of the lower groove 312 respectively penetrate the lower shell 12 along a direction perpendicular to the first direction A, and when the upper shell 11 and the lower shell 12 are spliced, the upper groove 311 and the lower groove 312 are spliced ​​into the second guide channel 31.

[0070] In this embodiment, the upper groove 311 and the lower groove 312 can be manufactured independently and assembled with the upper shell 11 and the lower shell 12 respectively, or they can be integrally formed through 3D printing or casting, that is, the upper groove 311 is integrally formed with the upper shell 11, and the lower groove 312 is integrally formed with the lower shell 12.

[0071] Furthermore, in other schemes, the second guide channel 3 can also be a plurality of upper second guide channels (not shown in the figure) and a plurality of lower second guide channels (not shown in the figure), that is, an upper second guide channel located in the upper shell 11, and a lower second guide channel in the lower shell 12, and is not limited to the middle second guide channel 31 located at the connecting part of the upper shell 11 and the lower shell 12.

[0072] Both ends of each upper second flow guiding channel respectively penetrate the upper shell 11 in a direction perpendicular to the first direction A, and both ends of each lower second flow guiding channel respectively penetrate the lower shell 12 in a direction perpendicular to the first direction A, so as to realize horizontal motion control. Furthermore, the upper second flow guiding channel is integrally formed with the upper shell 11, and the lower second flow guiding channel is integrally formed with the lower shell 12, and they can also be separately manufactured by 3D printing or casting.

[0073] When working, the underwater robot of the embodiment of the present invention can use disposable batteries, rechargeable batteries or wireless power transmission as energy sources, and utilizes a disc-type hydrodynamic shape, through four vertically deployed first thrusters 4 and two horizontally deployed second thrusters 5, and controls the rotation speed of each first thruster 4 to adjust the sinking and buoyancy thrust, rolling torque, pitching torque and yaw torque, which can not only ensure the underwater posture stability, but also achieve high speed, long range and high endurance time, and adapt to a variety of hydrological conditions. It can be used for underwater robot teaching, marine ranching, underwater observation, underwater archaeology, underwater search and rescue and other occasions, and can be applied to heavy underwater robots (more than 200kg), medium-sized underwater robots (50~200kg), small underwater robots (10~50kg), and ultra-small underwater robots (less than 10kg), and has extremely strong applicability.

[0074] Above, refer to Figures 1 to 9 The invention describes an underwater robot according to an embodiment of the present invention, which has a compact structure, a high speed, a long range, a long endurance time, a strong attitude stability, strong scalability, and a large load-bearing capacity.

[0075] It should be noted that, in this specification, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0076] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. An underwater robot, characterized in that: Include: A casing, wherein the casing is a disc-shaped casing; a plurality of first flow guiding channels, the plurality of first flow guiding channels being evenly spaced and arranged in the housing, both ends of each of the first flow guiding channels respectively passing through the housing, each of the first flow guiding channels extending along a first direction, the first direction being a direction parallel to a line connecting the top and the bottom of the housing, and the number of the first flow guiding channels being an even number not less than 4; a plurality of second guide channels, the plurality of second guide channels being evenly spaced and arranged in the housing, both ends of each second guide channel respectively passing through the housing, each second guide channel being perpendicular to the first direction, and the number of the second guide channels being an even number not less than 2; A plurality of first propellers, each of the first flow guide channels is provided with one of the first propellers; A plurality of second propellers, each of the second flow guide channels is provided with a second propeller; An electric control module is disposed in the housing and is connected to the plurality of first propellers and the plurality of second propellers respectively.

2. The underwater robot according to claim 1, characterized in that: Axes of the plurality of first flow guiding channels are parallel in pairs, but axes of any three of the first flow guiding channels are not coplanar.

3. The underwater robot according to claim 1, characterized in that: A center line of any of the first flow guiding channels does not intersect a center line of any of the second flow guiding channels.

4. The underwater robot according to claim 1, characterized in that: The center lines of any two of the second flow guiding channels do not intersect.

5. The underwater robot according to claim 1, characterized in that: It also includes: a frame plate, which is arranged in the casing; the plurality of first thrusters, the plurality of second thrusters and the electric control module are respectively installed on the frame plate.

6. The underwater robot according to claim 1, characterized in that: The housing includes an upper housing and a lower housing, and a splicing direction of the upper housing and the lower housing is the first direction.

7. The underwater robot according to claim 6, characterized in that: Each of the first flow guide channels includes an upper flow guide tube and a lower flow guide tube that are connected. The upper flow guide tube is arranged on the inner wall of the upper shell, and the lower flow guide tube is arranged on the inner wall of the lower shell. The upper flow guide tube and the lower flow guide tube respectively penetrate the upper shell and the lower shell along the first direction.

8. The underwater robot according to claim 7, characterized in that: It also includes: a frame plate, which is arranged in the casing; the electronic control modules are respectively installed on the frame plate; the frame plate is perpendicular to the first direction, and a plurality of flow guide holes are arranged on the frame plate, and the plurality of flow guide holes correspond to the plurality of first flow guide channels one by one, and the two ends of each of the flow guide holes are respectively connected to the upper flow guide cylinder and the lower flow guide cylinder of the first flow guide channel, and each of the flow guide holes is provided with a first propeller; the plurality of second propellers are respectively installed on the frame plate through connecting pieces, and each of the second propellers extends into a second flow guide channel respectively.

9. The underwater robot according to claim 5 or 8, characterized in that: It also includes: a pressure-resistant cabin, the pressure-resistant cabin is arranged on the frame plate, the electric control module is arranged in the pressure-resistant cabin, the bottom cover of the pressure-resistant cabin is provided with an optical ball cover, the bottom of the casing is provided with an observation window, and the optical ball cover is located at the observation window.

10. The underwater robot according to claim 9, characterized in that: The pressure-resistant cabin is connected to the frame plate via a flexible connector, the upper end of the flexible connector is connected to the frame plate, and the lower end of the flexible connector is connected to the pressure-resistant cabin.

11. The underwater robot according to claim 9, characterized in that: It also includes: a driving mechanism and a camera, wherein the camera is located in the optical ball cover, the driving mechanism is connected to the camera to drive the camera to rotate, and the driving mechanism and the camera are respectively connected to the electric control module.

12. The underwater robot according to claim 5 or 8, characterized in that: It also includes: a center of gravity adjustment module, which is arranged on the frame; the center of gravity adjustment module includes a counterweight block and a sliding component, and the counterweight block can be moved on the frame through the sliding component in a direction parallel or perpendicular to the second guide channel.

13. The underwater robot according to claim 6, characterized in that: The plurality of second flow guiding channels include a plurality of middle second flow guiding channels; Each of the middle second flow guiding channels comprises an upper groove and a lower groove, wherein the upper groove is arranged inside the upper shell, and the lower groove is arranged inside the lower shell; Two ends of the upper groove respectively penetrate the upper shell along a direction perpendicular to the first direction, and two ends of the lower groove respectively penetrate the lower shell along a direction perpendicular to the first direction.

14. The underwater robot according to claim 6 or 13, characterized in that: The plurality of second guide channels include a plurality of upper second guide channels and a plurality of lower second guide channels, both ends of each of the upper second guide channels respectively penetrate the upper shell along a direction perpendicular to the first direction, and both ends of each of the lower second guide channels respectively penetrate the lower shell along a direction perpendicular to the first direction.

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